Robust and adaptive path following for underactuated autonomous underwater vehicles
Robust and adaptive path following for underactuated autonomous underwater vehicles
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DOI：
10.1109/acc.2003.1243367
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发表时间：
2003-06
期刊：
影响因子：
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通讯作者：
K. D. Do;J. Pan
中科院分区：
文献类型：
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作者：
K. D. Do;J. Pan
提出了一种非线性鲁棒自适应控制策略，使只有四个驱动器的六自由度欠驱动水下机器人在存在环境干扰和未知物理参数的情况下，以期望速度沿预定路径运动。所提出的控制器设计使用李亚普诺夫直接法，流行的反推和参数投影技术。闭环路径跟踪误差可以任意小。通过数值仿真验证了所提出的欠驱动水下航行器路径跟踪方法的有效性。
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters. The proposed controller is designed using Lyapunov's direct method, the popular backstepping and parameter projection techniques. The closed-loop path following error can be made arbitrarily small. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology for the path following of underactuated underwater vehicles.